JP4626438B2 - Stack escape support device and stack escape support method - Google Patents

Description

  The present invention relates to a stack escape support device and a stack state escape support method, and more particularly, to a stack escape support device and a stack escape support method that support a wheel to easily escape from a stack state.

  When the vehicle travels on sandy ground, or when it tries to start traveling from a state where it stops on the sandy ground, the wheel may idle due to excessive depression of the accelerator. If this idling state continues, the wheel may sink into the sand and the vehicle may not move. There is a case of falling into a so-called “stacked state”. If the rotation of the wheel is continued in this state, the wheel further sinks into the sand, the bottom of the vehicle body contacts the sand, and the wheel completely loses grip. It falls into the so-called “full stack state”. When a wheel falls into a stack state, it can be considered that the contact state between the sand and the wheel is changed to prevent the wheel from idling and escape. For example, it may be possible to escape from the stack state by digging out a wheel buried in sand, or by reducing or suppressing idling of the wheel by inserting wood or a blanket under the wheel.

Various techniques for performing escape from such a stack state using an apparatus mounted on a vehicle have been proposed. For example, Patent Document 1 discloses a vehicle that enables a vehicle equipped with a jack provided at the bottom of a vehicle body to lift all the wheels of the vehicle until they are separated from the ground. By lifting all the wheels until they leave the ground, it is possible to easily lay stones and boards under the wheels, and support the escape from the stack state. Further, in Patent Document 2, when it is determined that the driving wheel is stuck, the relative distance between the center of the wheel and the vehicle body is arbitrarily changed, and a load exceeding the vehicle weight is applied to the ground contact surface of the wheel. A vehicle that can be used is disclosed. By applying a load exceeding the vehicle weight to the ground contact surface of the wheel, the grip force of the wheel is raised to enable the escape from the stack state. In addition, Patent Document 3 discloses a technique for supporting escape from a stacked state.
JP-A-9-301137 Japanese Patent Laid-Open No. 10-305717 Japanese Utility Model Publication No. 5-65720

  However, as described above, any device that supports exit from the stack state needs to include a special dedicated device in order to exit from the stack state. There are not so many cases where the vehicle is stuck, and it is not preferable in terms of cost to install a special device only for that purpose. Further, the vehicle weight is increased, which is not preferable in terms of vehicle performance. On the other hand, it is preferable that the user can easily escape from the state when the vehicle actually falls into the stack state, and a proposal for a stack escape support device and a stack escape support method using a conventionally mounted device is desired.

  The present invention has been made in view of such circumstances, and an object of the present invention is to provide a stack escape support device and a stack escape support method that can support escape from a stack state without using a dedicated device.

In order to solve the above-described problem, according to an aspect of the present invention, there is provided a stack escape support device that assists in causing a wheel to escape from a stack state when the wheel is in a stack state. A vehicle height adjustment means for adjusting the vehicle height on at least the driving wheel side by changing the state, and the vehicle height is lowered by the vehicle height adjustment means, and the vehicle body is substantially supported at least at a part of the bottom of the vehicle body in a stacked state The wheel is lifted from the road surface and lifted off the road surface, or the contact area between the road surface and the wheel is reduced , and then the raised wheel is pushed down against the road surface to separate the bottom of the vehicle body from the road surface. Vehicle height control means for changing the contact state between the wheel and the road surface.

  Here, as the vehicle height adjusting means, for example, a pneumatic or hydraulic suspension device with a vehicle height adjusting function can be used. According to this aspect, by driving the vehicle height adjusting means to lower the vehicle height, the vehicle body is substantially supported by at least a part of the vehicle body bottom, and the stacked wheels can be lifted from the road surface. Even when a part of the bottom of the vehicle body is already in contact with the road surface, by lowering the vehicle height, the vehicle body is substantially supported by a part of the bottom of the vehicle body, and the stacked wheels can be lifted from the road surface. That is, the wheel can be lifted from the road surface, or the contact area between the road surface and the wheel can be reduced. Thereafter, the wheel is pushed down against the road surface, and the bottom of the vehicle body is separated from the road surface. Since the road surface causing the stack has high fluidity, the contact state between the stacked wheel and the road surface is changed by the vertical movement of the wheel, and the grip characteristics of the wheel with respect to the road surface are changed. The possibility of being able to escape from the stacked state increases by driving the wheel with the grip characteristics changed. That is, it is possible to support escape from the stack state. In this case, since the vehicle height adjusting means that is originally used for other purposes such as improving the ride comfort of the vehicle and improving the stable running performance is used, the stack escape support device can be configured without adding a dedicated structure.

  In the above aspect, the vehicle height control means may repeatedly perform an operation of lifting the wheel from the road surface and an operation of pushing down the wheel surface a plurality of times. In this case, since the contact state between the wheel and the road surface can be changed efficiently and greatly, the grip characteristics of the wheel with respect to the road surface can be greatly changed. As a result, it is possible to quickly escape from the stack state.

  In the above configuration, the vehicle may further include a sandy land traveling determination unit that determines whether or not the vehicle is traveling in a sandy field. In general, the traveling resistance when the vehicle is traveling on a sandy road is greater than the traveling resistance when traveling on a normal road. For this reason, the deviation between the estimated wheel acceleration and the actual wheel acceleration of the driving wheel of the vehicle traveling on the sand road is based on the deviation between the estimated wheel acceleration and the actual wheel acceleration of the driving wheel when traveling on the normal road. Also grows. Therefore, the sandy land traveling determination means can perform sandy land traveling determination by comparing the deviation between the estimated wheel acceleration of the driving wheel and the actual wheel acceleration at the time of acceleration of the vehicle and a predetermined reference value, for example. According to this aspect, it can be easily recognized that the cause of the stack is due to sandy traveling, and when stacking, stack escape support can be performed at an early stage. Here, sandy land includes a road surface equivalent to sandy land, and includes, for example, gravel land. In addition, the particle size of sand and gravel is arbitrary, and if it is a particle size that substantially reduces the grip of the wheel, it is regarded as constituting a sandy road.

  Further, in the above configuration, the vehicle height control means includes a manual mode for performing an operation of pulling up the wheel from the road surface and an operation of pushing down the road surface according to a user instruction when the wheel is in a stacked state; The vehicle may have an automatic mode for autonomously performing an operation of pulling up the wheel from the road surface and an operation of pushing down the road surface when it is determined that the vehicle is in a sandy state by the travel determination unit and the wheel is in a stacked state. According to this aspect, the stack escape support operation can be performed according to the stack state. For example, in the manual mode, before performing the escape support operation by the vehicle height adjusting means, check the contact state between the road surface and the wheel as a preliminary work, or change the contact state between the wheel and the road surface to some extent so that efficient escape can be performed. It can also be changed. As a result, efficient escape support by the vehicle height adjusting means can be performed. In the automatic mode, the stack escape operation can be performed immediately.

  Further, in the above configuration, the vehicle height control means further includes a traction control means that operates after performing an operation of pulling up the wheel and an operation of pushing down the road surface, and the traction control means is independent of an accelerator depression amount. The traction control may be performed within an allowable slip range in which the wheel does not idle. Even if the contact state between the wheel and the road surface is changed by performing the operation of pulling up the wheel from the road surface and the operation of pushing down the road surface, if the wheel is driven with a large driving force, it may be stacked again. According to this aspect, regardless of the accelerator operation, the traction control is performed within the allowable slip range where the wheel does not idle, so that the stack can be prevented from recurring.

In order to solve the above-described problem, according to another aspect of the present invention, there is provided a stack escape support method for assisting a vehicle wheel to escape from a stack state when a vehicle wheel is in a stack state, and at least driving The vehicle height on the wheel side is adjusted, and the vehicle body is substantially supported by at least a part of the vehicle body bottom, and the wheel in a stacked state is lifted from the road surface to float up from the road surface, or the contact area between the road surface and the wheel driving a step of Ru reduced, the steps of the underbody depressing the wheels lifted to a road surface to change the contact state of the wheels and the road surface is separated from the road surface, the wheel contact state has changed with the road surface And escaping the wheel from the stack position. According to this aspect, it is possible to easily support escape from the stack state using the vehicle height adjustment function.

  According to the stack escape support device and the stack escape support method of the present invention, it is possible to easily support escape from the stack state without using a dedicated device.

  Hereinafter, an embodiment of the present invention (hereinafter referred to as an embodiment) will be described with reference to the drawings.

  The stack escape support device and stack escape support method according to the present embodiment lowers the vehicle height using the vehicle height adjusting means, and substantially supports the vehicle body at least at a part of the vehicle body bottom and lifts the stacked wheels from the road surface. . Subsequently, the wheel lifted again using the vehicle height adjusting means is pushed down against the road surface to separate the bottom of the vehicle body from the road surface. By this operation, the contact state between the wheel and the road surface is changed, the grip property of the wheel with respect to the road surface is changed, and the wheel drive is supported so that the vehicle can escape from the stack state. In the present embodiment, when the wheel is stuck in the sand, the vehicle height adjustment means is used to move the wheel up and down so that the grip of the wheel with respect to the road surface can be recovered to escape from the stuck state. An example of support will be described.

  FIG. 1 is a conceptual diagram of a configuration of a vehicle 10 on which the stack escape support device of the present embodiment is mounted. FIG. 1 shows only the configuration related to the stack escape support apparatus of the present embodiment, and other configurations are omitted. In the present embodiment, when the wheels are stacked in sand, vehicle height adjusting means that is mounted for the purpose of improving the ride comfort and running stability of the conventional vehicle is used as an actuator that assists escape from the stacked state. As the vehicle height adjusting means, for example, an absorber unit with a vehicle height adjusting function included in an electronically controlled air suspension or hydraulic suspension can be used. In the present embodiment, description will be made using an electronically controlled air suspension absorber unit 12.

  A well-known absorber unit 12 can be used. For example, a unit that changes the vehicle height by expanding and contracting the absorber unit 12 by taking air into and out of a chamber formed in the absorber unit 12 can be used. The absorber unit 12 is a part of a suspension that supports the wheel 14 at both ends, and a lower end portion is connected to the suspension arm 16 (wheel 14 side) and an upper end portion is connected to the vehicle body side (body). Therefore, even if the vehicle receives vibrations or shocks from the road surface while traveling, the vibrations and shocks are absorbed by the vibration damping effect of the absorber unit 12, thereby contributing to improvement in riding comfort and driving stability. Further, as described above, the absorber unit 12 itself can be expanded and contracted by taking air into and out of the chamber of the absorber unit 12, and the height of the wheel 14 relative to the vehicle body can be changed. As a result, when the wheel 14 is grounded, the height of the vehicle body (vehicle height) can be changed.

  The extension operation of the absorber unit 12 is performed based on the current vehicle height data of the vehicle 10 detected by the vehicle height sensor 18 connected to, for example, a lower arm constituting the suspension. For example, when the loading capacity or the number of passengers of the vehicle 10 changes, the vehicle height changes depending on the weight. At this time, if the absorber unit 12 is controlled, the vehicle height can be controlled to a substantially constant height. As a result, the vehicle posture is stabilized and the sprung resonance frequency can be maintained almost constant, which contributes to a comfortable ride and stability of operability. In addition, the vehicle height can be changed depending on the vehicle speed, which can contribute to the realization of stable traveling.

  A compressor 22 and a low pressure tank 24 are connected to the absorber unit 12 via a pipe 20. The compressor 22 generates compressed air that is fed into the chamber of the absorber unit 12 at a high speed in order to raise the vehicle height. The low-pressure tank 24 is used for extracting air from the chamber of the absorber unit 12 at high speed in order to lower the vehicle height. A control valve 26 is disposed on the pipe 20 for each absorber unit 12. The control valve 26 is controlled to be opened and closed by an ECU 28 that functions as a vehicle height control means, and the compressor 22 and the low-pressure tank 24 are brought into contact with and separated from the absorber unit 12. The ECU 28 controls the control valve 26 based on vehicle height data provided from the vehicle height sensor 18. Therefore, by detecting the height state of the suspension arm 16 with respect to the vehicle body by the vehicle height sensor 18, the vehicle height control is realized with the absorber unit 12 being in an optimal expansion / contraction state.

  In the present embodiment, the ECU 28 may include a sandy land determination unit 28a that determines whether or not the vehicle 10 is currently traveling on a sandy road. In this case, the ECU 28 receives data from the wheel speed sensor 30 for detecting the wheel acceleration of each wheel 14 and the vehicle acceleration sensor 32 for detecting the acceleration of the vehicle 10 as a whole. In general, the traveling resistance when the vehicle 10 is traveling on a sandy road is greater than the traveling resistance when traveling on a normal road. For this reason, the deviation between the estimated wheel acceleration of the wheel 14 (drive wheel) and the actual wheel acceleration of the vehicle 10 traveling on the sand road is the estimated wheel acceleration of the drive wheel and the actual wheel when traveling on the normal road. It becomes larger than the deviation from the acceleration. Accordingly, the sandy land traveling determination unit 28a compares the deviation between the estimated wheel acceleration of the wheel 14 and the actual wheel acceleration at the time of acceleration of the vehicle 10 with a predetermined reference value, for example, so that the current vehicle 10 moves along the sandy road. It can be determined whether or not the vehicle is running. Note that by preparing a plurality of types of reference values, sand conditions in various states can be determined.

  Further, in the stack escape support device of the present embodiment, the manual mode in which the escape support operation from the stack state is performed according to the user's instruction, and the sand travel determination unit 28a determines that the sand travel is performed, and the wheel 14 enters the stack state. It may be provided with at least one of the automatic mode which autonomously performs when it becomes. When only the manual mode is provided, or when both the manual mode and the automatic mode are provided, the operation switch 34 is connected to the ECU 28. In the case of only the manual mode, the operation switch 34 can be an ON / OFF switch, for example. Further, when the manual mode and the automatic mode can be selected, a plurality of ON / OFF switches, rotary switches, and the like can be employed. Note that the vehicle height up / down operation by driving the absorber unit 12 is preferably performed when the vehicle 10 is stopped for safety. Therefore, information from a vehicle speed sensor, a brake sensor, or the like is also input to the ECU 28 in order to determine whether the vehicle 10 is stopped.

  Further, in the present embodiment, after the absorber unit 12 is driven to change the contact state between the wheel 14 and the road surface, the traction control unit 36 that drives the wheel 14 without causing the stack again and successfully escapes is connected to the ECU 28. It is connected. In the present embodiment, the absorber unit 12 changes the contact state between the wheel 14 and the road surface (sandy road) by moving the wheel 14 up and down. As a result, the grip performance of the wheel 14 is restored and the wheel 14 is released from the stacked state. However, even if the grip performance of the wheel 14 is restored, if the wheel 14 is given excessive driving force, the stack is again stacked. There is a risk of inducing a condition. Therefore, the traction control unit 36 performs traction control within an allowable slip range in which the wheel 14 does not idle regardless of the accelerator depression amount.

  The operation of the stack escape support device configured as described above will be described using the stack escape support operation image diagram of FIG. 2 and the flowchart of FIG. Note that the flowchart of FIG. 3 shows a flow in the case where the user recognizes that the stack state has been reached and manually starts the stack escape support operation.

  Here, the stack state means a state in which, even if driving force is transmitted to the wheels 14, the wheels 14 are buried in sand and the vehicle 10 cannot move forward or backward. For example, as shown in FIG. 2A, in addition to the “completely stacked state” in which the wheel 14 is deeply buried in sand and the bottom 10a of the vehicle body is in contact with the sand and cannot move, Although “14” is buried in sand, the “initial stack state” in which the vehicle body bottom portion 10a is not in contact with the sand is also included. In either case, the wheel 14 only scoops out the sand, and the gripping force against the road surface is reduced so that the wheel 14 is idle and cannot move forward or backward.

  As shown in FIG. 2A, when the user recognizes that the vehicle 10 is stuck, the user depresses the operation switch 34 (S100). When the ECU 28 recognizes the operation of the operation switch 34, the ECU 28 determines whether or not the escape support control by driving the absorber unit 12 may be performed. Therefore, whether or not the current vehicle speed is 0 km / h, that is, the vehicle 10 is in the stop state. Is determined based on input information from the vehicle speed sensor (Y or N in S102). This is to prevent the operation switch 34 from being erroneously operated during traveling and the like to change the vehicle height. If the vehicle speed is not 0 km / h (N in S102), the ECU 28 turns on the escape support control prohibition flag (S104) and invalidates the operation of the operation switch 34. Then, a message indicating that the escape support control is prohibited is output to the user (S106), and the series of escape support control ends. Note that this message can be output arbitrarily, but can be implemented by voice output or display display. For example, it is possible to output, for example, “The stack escape support control cannot be performed because the vehicle is not stopped. Please operate again after stopping the vehicle”. In addition, the user may be notified that the control is prohibited by a warning lamp such as an LED or a beep sound.

  On the other hand, if the ECU 28 determines in S102 that the vehicle speed is 0 km / h, the ECU 28 further determines whether or not the brake of the vehicle 10 is ON based on information from the brake sensor (Y or N in S108). ). In this case, the information from the brake sensor may be any sensor that detects that the stop state of the vehicle 10 is maintained, for example, a foot brake sensor, a parking brake sensor, or a position sensor indicating a parking range. And so on. If the ECU 28 recognizes that the brake is not turned on (N in S108), the ECU 28 turns on the escape support control prohibition flag (S104) and invalidates the operation of the operation switch 34. Then, a message indicating that the escape support control is prohibited is output to the user (S106), and the series of escape support control ends. This message can be output arbitrarily, but can be implemented by voice output or display display. For example, it is possible to output such as “the stack escape support control cannot be performed because the brake is not turned on. Please operate again after turning on the brake”. In addition, the user may be notified that the control is prohibited by a warning lamp such as an LED or a beep sound.

  When the ECU 28 recognizes that the brake is turned on in S108, the ECU 28 turns on the escape support control permission flag (S110), and starts the vehicle height down control by the absorber unit 12 (S112). That is, the ECU 28 disconnects the compressor 22 from the pipe 20, connects the low-pressure tank 24 to the pipe 20, and further opens the control valve 26 disposed corresponding to the absorber unit 12. As a result, the air in the chamber of the absorber unit 12 rapidly moves to the low-pressure tank 24, and the stroke of the absorber unit 12 is shortened. As a result, the stroke of the absorber unit 12 is shortened and the vehicle height is lowered, so that the vehicle body is substantially supported by at least a part of the vehicle body bottom portion 10a. Furthermore, when the stroke of the absorber unit 12 becomes short, the wheel 14 is pulled up from the sandy road. That is, the wheel 14 shifts from the state indicated by the broken line to the state indicated by the solid line in FIG. As a result, a space is formed between the sand ground before the wheel 14 is pulled up and the wheel 14 after the wheel 14 is pulled up. Since sand has high fluidity, sand flows into this space (hatched portion A) from the surroundings. At this time, the amount by which the absorber unit 12 contracts can be set as appropriate. For example, even if a part of the wheel 14 is in contact with the sandy road, if the wheel 14 is pulled up from the initial state of the stack, a space for sand to flow is formed, so that the wheel 14 and the sandy road are in contact with each other. Will change. However, it is desirable to return the wheel 14 to the grounded state before the stacking state. Therefore, it is desirable to reduce the wheel 14 to the minimum stroke so that the wheel 14 is completely lifted off the sand surface.

  The state of FIG. 2 (a) shows a complete stack state, and the vehicle body bottom portion 10a is in contact with the sandy road. However, at this time, the wheel 14 is also in contact with the sandy road, and the vehicle 10 is supported by the wheel 14 and the vehicle body bottom 10a. By performing the operation of lowering the vehicle height from this state, the vehicle 10 substantially supports the vehicle body at least at a part of the vehicle body bottom 10a, and the wheels 14 can be lifted from the sandy road. Further, in the initial stack state where the vehicle body bottom 10a is not in contact with the sandy road, by lowering the vehicle height by the absorber unit 12, the vehicle body bottom 10a first contacts the sandy road and the vehicle 10 is at least a part of the vehicle body bottom 10a. When the vehicle body is substantially supported and the vehicle height is further lowered, the wheel 14 can be lifted off the sandy road as in the case of the fully stacked state.

  After confirming the completion of the lifting of the wheel 14 based on the information from the vehicle height sensor 18, the ECU 28 subsequently starts the vehicle height up control (S114). That is, the control valve 26 is temporarily closed to separate the low pressure tank 24 from the pipe 20. Then, the compressor 22 is connected to the pipe 20, the control valve 26 is opened again, high-pressure air generated by the compressor 22 is introduced into the chamber of the absorber unit 12, and the stroke of the absorber unit 12 is extended. As a result, the wheel 14 that has floated from the sandy ground touches the hatched portion A into which the sand flows and supports the vehicle 10. If the stroke of the absorber unit 12 is further extended, as shown in FIG. 2C, the vehicle body bottom 10a is separated from the sandy road, and the vehicle 10 is in a state before falling into a stacked state. That is, by pouring sand under the wheel 14, the contact state between the wheel 14 and the sand road is changed, the grip property of the wheel 14 is restored, and the escape from the stack state is supported.

  At this time, the amount by which the absorber unit 12 extends can be set as appropriate. However, since it is necessary to completely separate the vehicle body bottom portion 10a from the sandy road, it is desirable to extend it to the maximum stroke. Note that a pause time of about 10 seconds, for example, may be provided between the completion of the vehicle height down operation in S112 and the start of the vehicle height up operation. The time for sand to flow into the hatched portion A can be ensured by providing the downtime.

  In the case of the present embodiment, the “vehicle height down” control in S112, that is, the control for lifting the wheel 14 can be performed once to allow sand to flow into the hatched portion A. The contact state between the wheel 14 and the sandy road surface Can be changed. However, as a control option, the vehicle height down / up operation by the absorber unit 12 may be performed a plurality of times. The flow of sand into the hatched portion A varies depending on the particle size of the sand itself, the depth and shape of the wheels 14 dug down initially, and the like. Therefore, in the present embodiment, the ECU 28 repeats the vehicle height up / down operation a plurality of times, for example, 5 times (Y or N in S116). By causing the wheel 14 to move up and down a plurality of times, sand flow can be induced, and the contact state between the wheel 14 and the sandy road can be changed efficiently and greatly. That is, the grip characteristics of the wheel 14 with respect to the sandy road can be greatly changed. As a result, escape support from the stack state can be performed quickly.

  When the vehicle height up / down operation has been completed a predetermined number of times (including a case where the vehicle height has been increased once), the ECU 28 performs an escape running process (S118). For example, the user is informed that the user may move forward or backward by means of permission notification means such as voice display, display display, LED display or beep sound, and the series of stack escape support processing is completed. The user can escape from the stack state by carefully starting the vehicle 10 with the low-speed gear. When the ECU 28 recognizes that the escape from the stack state is completed by the input from the user or the acceleration detection of the wheel 14, the ECU 28 drives the absorber unit 12 to return the vehicle height to the optimum state for traveling. Is desirable.

  Thus, according to this embodiment, it can support that wheel 14 escapes from a stuck state using absorber unit 12 mounted for other vehicle control. As a result, the stack escape support device can be configured without greatly changing the configuration of the vehicle and without newly installing a device for supporting stack escape. Therefore, the stack escape support device can be easily configured even with existing vehicles. Further, the stack escape support device can be easily mounted on the vehicle without increasing the vehicle weight, increasing the number of parts, and increasing the cost.

  As described above, the stack often occurs due to excessive depression of the accelerator. Therefore, the “escape running process” in S118 of FIG. 3 may be executed under the control of the ECU 28.

  FIG. 4 shows a flowchart of escape running processing performed by the ECU 28. In S <b> 118, the ECU 28 can detect a change with time of the vehicle height sensor 18. That is, the ECU 28 can confirm whether or not the flip recovery flag indicating that the grip recovery process performed by lowering / upgrading the vehicle height has been completed is turned on based on the change in the output value (Y or N in S200). If the grip recovery flag is ON (Y in S200), the ECU 28 turns ON the sand start flag for the traction control unit 36 (S202). When the traction control unit 36 confirms that the sand start flag is ON based on the information from the ECU 28, the traction control unit 36 switches the traction control to the “escape mode” (S204), and performs the escape traction control (S206). Here, the escape mode is a mode in which traction control is performed within an allowable slip range in which the wheel 14 does not idle regardless of the accelerator depression amount operated by the user.

  FIG. 5 shows the engine output N in the normal mode and the engine output S in the escape mode for the same accelerator operation amount. In FIG. 5, the threshold value P1 indicates a normal allowable slip amount for traction control during normal road traveling, and the threshold value P2 indicates a sand allowable slip amount for traction control during sandy road traveling. In the normal mode, in order to start smoothly, the traction control is performed so that the initial engine output is increased with respect to the accelerator opening operated by the user, and then the threshold value P1 or less is set so that the wheel 14 does not spin. Is called. On the other hand, in the escape mode, regardless of the accelerator opening degree operated by the user, the traction control within the allowable slip range below the threshold P2 at which the wheel does not idle is performed. That is, even when the user steps on the accelerator excessively, the engine output is controlled so as to be suppressed to the threshold value P2 or less. Since the escape operation also requires a certain amount of traction, the increase output control may be performed so that the engine output S shown in FIG. As shown in FIG. 5, in the escape mode, the engine output gradient is made smaller than that in the normal mode in order to suppress the initial slip when the accelerator is ON.

  When the escape from the stack state is successful, the acceleration of the wheel 14 is generated with respect to the engine output, so the ECU 28 can determine whether the escape is successful based on the information from the wheel speed sensor 30 (Y or N in S208). ). If the ECU 28 determines that the escape has been successful (Y in S208), the process of S118 ends, and the entire stack escape support process ends. On the other hand, when it is determined that the escape has not been completed (N in S208), for example, when the acceleration is not generated in the wheel 14, that is, when the wheel 14 is stuck again, the escape is redone (S210). . Specifically, the processing after S102 in FIG. 3 is performed. Then, the process returns to S200, and it is determined again whether or not the escape process completion flag is turned on, and the processes after S200 are repeated.

  Thus, according to the stud escape assist device of the present embodiment, by driving the absorber unit 12, the wheel 14 is moved up and down, the sand is taken under the wheel 14, and the buried wheel 14 is equivalent to that before the stack. Return to the state. Furthermore, it is possible to escape from the stack generation position while performing traction control so that the stack does not occur again from that state. Therefore, it is possible to assist so that the escape from the stack state can be performed quickly.

  In the above-described example, the user determines that the sandy stack state has occurred, and operates the operation switch 34 to execute the escape support operation from the stack state in the manual mode. FIG. 6 shows an example in which the ECU 28 side determines whether or not the escape support from the stack on the sandy road is necessary and starts the stack escape support operation autonomously.

  The sandy land traveling determination unit 28a of the ECU 28 determines whether or not the vehicle 10 is traveling on the sandy ground constantly or periodically during traveling (Y or N in S300). If the sandy land traveling determination unit 28a determines that it is not sandy land traveling (N in S300), the ECU 28 determines that the sandy land stack escape support is not currently required, and turns on the sandy land stack escape support unnecessary flag (S302). . Then, if necessary, a message indicating that fact is output (S304), and a series of stack escape support processing ends. The message can be output simply, for example, by turning on / off the LED, but any means such as voice or display may be used.

Further, when the sand traveling determination unit 28a determines that the current traveling is in the sand (Y in S300), the ECU 28 determines whether or not the vehicle 10 is stopped based on the information from the vehicle speed sensor, that is, whether the speed is 0 km / h. (Y or N in S306). When there is a speed (N in S306), the ECU 28 determines that the stack is not in a stacked state, shifts the process to S302, and ends a series of processes. When it is determined in S306 that the vehicle 10 is stopped (Y in S306), the ECU 28 stores the value of the vehicle acceleration sensor 32. For example, when the vehicle 10 is stopped in a tilted state, an offset value is output as the output value of the vehicle acceleration sensor 32. Therefore, the reference value is acquired at this point. Then, based on the information from the ECU 28 and the shift position sensor, it is determined whether or not the shift lever is currently operated in a position other than “P range” or “N range” (Y or N in S308). If the shift lever is in the “P range” or “N range” (N in S308), the ECU 28 does not intend to run the vehicle 10 and does not intend to escape even if a stack has occurred. Is determined, the process proceeds to S302, and the series of processes ends. On the other hand, when the current position of the shift lever is in a travel range such as “D range” (Y in S308), the ECU 28 determines that the user has a willingness to travel and determines whether or not the accelerator is being opened. (Y or N in S310). When the accelerator is not being opened (N in S310), the ECU 28 determines that the shift lever is in the “D range” but the user has not stepped on the accelerator and is not willing to travel. Then, even if it is in the stack state, it is determined that the intention to exit the stack is not at the current stage, the process proceeds to S302, and the series of processes is terminated. If the accelerator is being opened (Y in S310), the ECU 28 determines that the user has a willingness to travel, and further determines whether there is a wheel speed based on information from the wheel speed sensor 30 ( Y or N of S312). When the accelerator is depressed and the wheel speed does not exist (N in S312), the ECU 28 determines that the wheel 14 is locked for some reason, and the vehicle 10 does not move because of a cause other than the stack. Judging that escape support is unnecessary. And ECU28 transfers a process to S302 and complete | finishes a series of processes.

  On the other hand, if the wheel speed is present in S312 (Y in S312), that is, if the wheel 14 is rotating, it is determined whether or not the value of the vehicle acceleration sensor 32 of the vehicle 10 has changed (Y in S314). N). If there is a change in the value of the vehicle acceleration sensor 32 (N in S314), it can be determined that the vehicle 10 is moving. Moreover, even if it is stuck, it can be determined that the escape running is started by driving the wheels 14. Therefore, the ECU 28 moves the process to S302 and ends the series of processes.

  In S314, when there is no change in the output value of the vehicle acceleration sensor 32 (Y in S314), the ECU 28 determines that the user is trying to escape from the stuck state. That is, the accelerator 28 is stepped on in the travel range, but it is determined that the vehicle 10 is in a state where the vehicle is idle and the vehicle 10 cannot move, and the ECU 28 turns on the sandy stack escape support necessary flag (S316).

  Thereafter, the ECU 28 autonomously starts the processes after S108 in the flowchart of FIG. That is, it is determined whether the brake is turned on (Y in S318 or N), and if the brake is turned on (Y in S318), the ECU 28 turns on the escape support control permission flag (S320). Then, an escape support process is performed in which the vehicle height is lowered / up a predetermined number of times (or once each) by driving the absorber unit 12 (S322). Subsequently, escape running processing using escape traction control is executed (S324), and when the escape is completed, a series of sandy stack escape support processing is terminated. On the other hand, if the brake is not turned on in S318 (N in S318), the ECU 28 turns on the escape support control prohibition flag (S326), and outputs a message indicating that the escape support control is prohibited to the user. (S328). Message output can be performed by voice output or display. For example, it is possible to output “The stack escape support control cannot be performed because the brake is not turned on. Please turn on the brake”. In addition, the user may be notified that the control is prohibited by a warning lamp such as an LED or a beep sound. The process of the ECU 28 proceeds to S318, where it is monitored whether or not the brake is turned on, and the processes after S318 are continuously executed.

  As described above, in the present embodiment, it is detected whether or not a stack has occurred on the sandy road, and when the sandy stack has occurred, the stack escape support using the absorber unit 12 is automatically performed. Even if 10 falls into a stack state, it can be supported so that it can escape from that state smoothly and quickly.

  In the above-described embodiment, the sand includes not only general sand having a small particle diameter but also gravel having a certain particle diameter, and even in the case of gravel, the absorber unit 12 is similar to the above-described example of sand. It is possible to change the contact state between the wheel 14 and the road surface by driving. As a result, escape support from the stack state can be performed in the same manner as in the case of fine sand, and the same effect can be obtained. In addition, even in the case of stacking in a muddy state or stacking in snow, the wheel 14 can be moved up and down by driving the absorber unit 12 to change the contact state between the wheel 14 and the road surface. In this case, although the change in the contact state between the wheel 14 and the road surface may be smaller than that of sand or gravel, the change in the contact state can be increased by performing the vertical movement of the wheel 14 a plurality of times. As a result, stack escape support can be performed.

  Further, in the configuration of FIG. 1, an example is shown in which drive control is performed on all four absorber units 12 of the vehicle 10. When control is performed with all four wheels, stack escape support can be most effectively performed, but the above-described effects can be obtained if the absorber unit 12 is driven at least with respect to the drive wheels. For example, in the case of an FF vehicle, only the front wheel may be used, and in the case of an FR vehicle, only the rear wheel may be used to move the wheel 14 up and down by driving the absorber unit 12 to change the contact state between the wheel 14 and the road surface. In the case of a 4WD vehicle, the same effects as described above can be obtained by controlling all four wheels, or front wheels or rear wheels. Moreover, although the example which uses the absorber unit 12 as a vehicle height adjustment means was demonstrated in this embodiment, if the vehicle height adjustment can be performed using some power source, the effect similar to this embodiment can be acquired. it can. For example, vehicle height adjusting means using motor output or engine output may be used.

It is a composition conceptual diagram of a vehicle carrying a stack escape support device concerning this embodiment. It is explanatory drawing explaining the stack escape assistance image of the vehicle carrying the stack escape assistance apparatus which concerns on this embodiment. It is a flowchart explaining operation | movement in the manual mode of the stack | seat escape assistance apparatus which concerns on this embodiment. It is a flowchart explaining in detail the escape running process in the flowchart of FIG. It is explanatory drawing explaining the engine output state in the escape driving | running | working process shown in FIG. It is a flowchart explaining operation | movement in the automatic mode of the stack | seat escape assistance apparatus which concerns on this embodiment.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 10 Vehicle, 10a Car body bottom part, 12 Absorber unit, 14 Wheel, 16 Suspension arm, 18 Vehicle height sensor, 20 Piping, 22 Compressor, 24 Low pressure tank, 26 Control valve, 28 ECU, 28a Sandy land run determination part, 30 Wheel speed sensor 32 Vehicle acceleration sensor 34 Operation switch 36 Traction control unit

Claims (6)

A stack escape support device for assisting the wheel to escape from the stack state when the wheel is in a stack state,
A vehicle height adjusting means for changing the suspension state of the wheel with respect to the vehicle body to adjust at least the vehicle height on the drive wheel side;
The vehicle height is lowered by the vehicle height adjusting means, and the vehicle body is substantially supported by at least a part of the vehicle body bottom, and the stacked wheel is lifted from the road surface to float from the road surface, or the road surface and the wheel A vehicle height control means for changing the contact state between the wheel and the road surface by decreasing the contact area, and then pushing down the raised wheel against the road surface to separate the bottom of the vehicle body from the road surface;
A stack escape support device comprising: The vehicle height control means includes
The stack escape support device according to claim 1, wherein the operation of pulling up the wheel from the road surface and the operation of pushing down the wheel surface are repeated a plurality of times.   The stack escape support device according to claim 1 or 2, further comprising sandy land traveling determination means for determining whether or not the vehicle is traveling on sandy land.   The vehicle height control means includes a manual mode for performing an operation of pulling up the wheel from the road surface and an operation of pushing down the road surface according to a user instruction when the wheel is in a stacked state, and a sandy road running by the sandy road judging unit. 4. The stack according to claim 3, further comprising an automatic mode for autonomously performing an operation of pulling up the wheel from the road surface and an operation of pushing down the road surface when the wheel is in a stacked state. Escape support device. The vehicle height control means further includes a traction control means that operates after the operation of pulling up the wheel and the operation of pushing down the road surface;
Said traction control means, regardless of the accelerator depression amount, the stack escape support according to any one of claims 1 to 4, wherein the wheel and performing traction control within allowable slip range not idle apparatus. A stack escape support method for assisting the vehicle wheel to escape from the stack state when the vehicle wheel is in a stack state,
At least the vehicle height on the drive wheel side is adjusted, and the vehicle body is substantially supported by at least a part of the bottom of the vehicle body, and the stacked wheel is lifted from the road surface and lifted from the road surface, or the road surface and the wheel a step of Ru reduce the contact area,
Depressing the raised wheel against the road surface and separating the bottom of the vehicle body from the road surface to change the contact state between the wheel and the road surface;
Driving the wheel whose contact state with the road surface has changed, and escaping the wheel from the stack position;
A stack escape support method comprising:

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